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Results on anti-windup design for Euler-Lagrange systems

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3 Author(s)
Morabito, F. ; Dipt. di Informatica, Sistemi e Produzione, Rome Univ., Italy ; Teel, A.R. ; Zaccarian, L.

In this paper we summarize the anti-windup construction suggested by Teel et al. (1997) for Euler-Lagrange systems and apply it to a SCARA robot controlled by a windup-prone decoupling PID controller. It is shown through simulation that the anti-windup design guarantees the local decoupled linear performance in. addition to global set-point tracking.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

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